Update

[ghstack-poisoned]

Author: vmoens

.github/unittest/linux_libs/scripts_isaaclab/isaac.sh

@@ -48,32 +48,19 @@ eval "$(${conda_dir}/bin/conda shell.bash hook)"
 conda create --prefix ${env_dir} python=3.10 -y
 conda activate ${env_dir}
 
-# Set LD_LIBRARY_PATH to prioritize conda environment libraries early
+# Set LD_LIBRARY_PATH to prioritize conda environment libraries
 export LD_LIBRARY_PATH=${lib_dir}:${LD_LIBRARY_PATH:-}
 
-# Ensure libexpat is at the correct version BEFORE installing other packages
-conda install -c conda-forge expat -y
+# Install a compatible version of expat (< 2.6.0 to avoid XML_SetReparseDeferralEnabled symbol issues)
+conda install -c conda-forge "expat<2.6" -y
 
-# Force the loader to pick conda's libexpat over the system one
-if [ -f "${lib_dir}/libexpat.so.1" ]; then
-  export LD_PRELOAD="${lib_dir}/libexpat.so.1:${LD_PRELOAD:-}"
-elif [ -f "${lib_dir}/libexpat.so" ]; then
-  export LD_PRELOAD="${lib_dir}/libexpat.so:${LD_PRELOAD:-}"
-fi
-
-# Quick diagnostic to confirm which expat is resolved by pyexpat
-PYEXPAT_SO=$(python - <<'PY'
-import importlib.util
-spec = importlib.util.find_spec('pyexpat')
-print(spec.origin)
-PY
-)
-echo "* pyexpat module: ${PYEXPAT_SO}"
-ldd "${PYEXPAT_SO}" | grep -i expat || true
-
-# Reinstall Python to ensure it links against the correct expat
+# Reinstall Python to ensure it's properly linked against the conda expat
 conda install --force-reinstall python=3.10 -y
 
+# Verify the expat linkage
+echo "* Checking pyexpat linkage:"
+python -c "import pyexpat; print('pyexpat imported successfully')" || echo "WARNING: pyexpat import failed"
+
 # Pin pytorch to 2.5.1 for IsaacLab
 conda install pytorch==2.5.1 torchvision==0.20.1 pytorch-cuda=12.4 -c pytorch -c nvidia -y
 

.github/workflows/test-linux-libs.yml

@@ -91,40 +91,40 @@ jobs:
 
         bash .github/unittest/linux_libs/scripts_brax/run_all.sh
 
-  unittests-d4rl:
-    strategy:
-      matrix:
-        python_version: ["3.10"]
-        cuda_arch_version: ["12.8"]
-    if: ${{ github.event_name == 'push' || contains(github.event.pull_request.labels.*.name, 'Data') }}
-    uses: pytorch/test-infra/.github/workflows/linux_job_v2.yml@main
-    with:
-      repository: pytorch/rl
-      runner: "linux.g5.4xlarge.nvidia.gpu"
-      docker-image: "nvidia/cuda:12.4.0-devel-ubuntu22.04"
-      timeout: 120
-      script: |
-        if [[ "${{ github.ref }}" =~ release/* ]]; then
-          export RELEASE=1
-          export TORCH_VERSION=stable
-        else
-          export RELEASE=0
-          export TORCH_VERSION=nightly
-        fi
+  # unittests-d4rl:
+  #   strategy:
+  #     matrix:
+  #       python_version: ["3.10"]
+  #       cuda_arch_version: ["12.8"]
+  #   if: ${{ github.event_name == 'push' || contains(github.event.pull_request.labels.*.name, 'Data') }}
+  #   uses: pytorch/test-infra/.github/workflows/linux_job_v2.yml@main
+  #   with:
+  #     repository: pytorch/rl
+  #     runner: "linux.g5.4xlarge.nvidia.gpu"
+  #     docker-image: "nvidia/cuda:12.4.0-devel-ubuntu22.04"
+  #     timeout: 120
+  #     script: |
+  #       if [[ "${{ github.ref }}" =~ release/* ]]; then
+  #         export RELEASE=1
+  #         export TORCH_VERSION=stable
+  #       else
+  #         export RELEASE=0
+  #         export TORCH_VERSION=nightly
+  #       fi
 
-        set -euo pipefail
-        export PYTHON_VERSION="3.10"
-        export CU_VERSION="cu128"
-        export TAR_OPTIONS="--no-same-owner"
-        export UPLOAD_CHANNEL="nightly"
-        export TF_CPP_MIN_LOG_LEVEL=0
-        export BATCHED_PIPE_TIMEOUT=60
-        export TD_GET_DEFAULTS_TO_NONE=1
+  #       set -euo pipefail
+  #       export PYTHON_VERSION="3.10"
+  #       export CU_VERSION="cu128"
+  #       export TAR_OPTIONS="--no-same-owner"
+  #       export UPLOAD_CHANNEL="nightly"
+  #       export TF_CPP_MIN_LOG_LEVEL=0
+  #       export BATCHED_PIPE_TIMEOUT=60
+  #       export TD_GET_DEFAULTS_TO_NONE=1
 
-        bash .github/unittest/linux_libs/scripts_d4rl/setup_env.sh
-        bash .github/unittest/linux_libs/scripts_d4rl/install.sh
-        bash .github/unittest/linux_libs/scripts_d4rl/run_test.sh
-        bash .github/unittest/linux_libs/scripts_d4rl/post_process.sh
+  #       bash .github/unittest/linux_libs/scripts_d4rl/setup_env.sh
+  #       bash .github/unittest/linux_libs/scripts_d4rl/install.sh
+  #       bash .github/unittest/linux_libs/scripts_d4rl/run_test.sh
+  #       bash .github/unittest/linux_libs/scripts_d4rl/post_process.sh
 
   unittests-envpool:
     strategy: